SYSTEM AND METHOD FOR INTERIOR MOBILE MAPPING

• US 20170178330A1
• Filed: 12/17/2015
• Published: 06/22/2017
• Est. Priority Date: 12/17/2015
• Status: Abandoned Application

• Current Assignee: Institute For Information Industry
• Original Assignee: Institute For Information Industry
• Inventors: LI, Chih-Hung, CHIANG, Kai-Wei, CHU, Chien-Hsun, LIAO, Chen-Kai, TSAI, Guang-Je
• Application Number:
  US14/972,098
• Publication Number:
  US 20170178330A1
• Time in Patent Office: Days
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80

Abstract

The present invention discloses an interior mobile mapping system and method thereof. The interior mobile mapping method comprises the following steps: establishing a plurality of interior reference points; obtaining coordinates of the plurality of interior reference points corresponded to an interior coordinate system; moving from one interior reference point which is closest to an interior object; taking a picture for the interior object at more than two different places individually; and calculating the coordinate of the interior object corresponded to an exterior coordinate system according to the respective position of the interior object in the pictures and the coordinates of the different shooting locations.

Claims

1. An interior mobile mapping system is adapted for producing or updating an interior layout of an inspected area, comprising:

an inertial measurement unit;

a digital camera module; and

a control device coupled to the inertial measurement unit and the digital camera module, wherein the control device establishes at least two interior reference points through the inertial measurement unit and obtains the respective coordinate of the at least two interior reference points corresponded to an interior coordinate system, the control device moves from one interior reference point which is the closest interior reference point corresponding to an update object, a running trace of the inertial measurement unit in the inspected area is feedback positioned by the control device according to the coordinate of the at least one interior reference points, the control device uses the digital camera module to take one picture for the update object at more than two different places individually, the coordinate of the update object corresponded to the interior coordinate system is calculated by the control device according to the respective position of the update object in the more than two pictures and the coordinate of the more than two shooting locations corresponded to the interior coordinate system, so as to update the interior layout.

2. The interior mobile mapping system of claim 1, further comprising:

the control device calculates the coordinate of the update object corresponded to an exterior coordinate system according to the coordinate of the update object corresponded to the interior coordinate system and the coordinate of the interior reference point closest to the update object corresponded to the interior coordinate system, wherein the control device uses the at least two interior reference points which have respective coordinate corresponded the exterior coordinate system to establish the interior coordinate system.

3. The interior mobile mapping system of claim 1, further comprising:

an starting point is chosen at exterior area and the coordinate of the starting point corresponded an exterior coordinate system is obtained when a mapping process of the inspected area operated at first time and no old map corresponded to the inspected area are determined, wherein the control device moves from the starting point and uses the inertial measurement unit to establish at least two interior reference points in the inspected area, and the control device uses the at least two interior reference points which have respective coordinate corresponded the exterior coordinate system to establish the interior coordinate system.

4. The interior mobile mapping system of claim 1, further comprising:

an old map is digitized when a mapping process of the inspected area operated at first time and having the old map corresponded to the inspected area are determined, wherein an starting point is chosen at exterior area and the coordinate of the starting point corresponded an exterior coordinate system is obtained, the control device moves from the starting point and uses inertial measurement unit to establish at least two interior reference points, and the control device uses the at least two interior reference points which have respective coordinate corresponded the exterior coordinate system to establish the interior coordinate system and transfers coordinate parameters of the old map to new coordinates which are in accordance with the interior coordinate system.

5. The interior mobile mapping system of claim 3, further comprising:

the control device moves from one interior reference point which is the closest interior reference point corresponding to an interest object, wherein a running trace of the inertial measurement unit in the inspected area is feedback positioned by the control device according to the coordinate of the at least one interior reference points, the control device uses the digital camera module to take one picture for the interest object at more than two different places individually, the coordinate of the interest object corresponded to the interior coordinate system is calculated by the control device according to the respective position of the interest object in the more than two pictures and the coordinate of the more than two shooting locations corresponded to the interior coordinate system, so as to produce the interior layout, the control device calculates the coordinate of the interest object corresponded to the exterior coordinate system according to the coordinate of the interest object corresponded to the interior coordinate system and the coordinate of the interior reference point closest to the interest object corresponded to the interior coordinate system.

6. The interior mobile mapping system of claim 4, further comprising:

the control device moves from one interior reference point which is the closest interior reference point corresponding to an interest object, wherein a running trace of the inertial measurement unit in the inspected area is feedback positioned by the control device according to the coordinate of the at least one interior reference points, the control device uses the digital camera module to take one picture for the interest object at more than two different places individually, the coordinate of the interest object corresponded to the interior coordinate system is calculated by the control device according to the respective position of the interest object in the more than two pictures and the coordinate of the more than two shooting locations corresponded to the interior coordinate system, so as to produce the interior layout, the control device calculates the coordinate of the interest object corresponded to the exterior coordinate system according to the coordinate of the interest object corresponded to the interior coordinate system and the coordinate of the interior reference point closest to the interest object corresponded to the interior coordinate system.

7. The interior mobile mapping system of claim 1, further comprising:

two optical transmitter modules are coupled to the control device and emit one beam individually to the ground vertically, wherein the two optical transmitter modules emit one beam individually to the two sides of each interior reference point in order to obtain two alignment points when the inertial measurement unit establishes at least two interior reference points, the two optical transmitter modules emit one beam individually to align the two alignment points when the control device moves from one interior reference point that is the closest interior reference point corresponded to the interest object, so as to check a position and an orientation of the interior mobile mapping system.

8. An interior mobile mapping method is adapted for producing or updating an interior layout of an inspected area, comprising:

obtaining the respective coordinate of the at least two interior reference points corresponded to an interior coordinate system, wherein the at least two interior reference are established by an inertial measurement unit;

moving from one interior reference point which is the closest interior reference point corresponding to an update object, wherein a running trace of the inertial measurement unit in the inspected area is feedback positioned according to the coordinate of the at least one interior reference points;

taking one picture for the update object at more than two different places individually; and

calculating the coordinate of the update object corresponded to the interior coordinate system according to the respective position of the update object in the more than two pictures and the coordinate of the more than two shooting locations corresponded to the interior coordinate system, so as to update the interior layout.

9. The interior mobile mapping method of claim 8, further comprising:

calculating the coordinate of the update object corresponded to an exterior coordinate system according to the coordinate of the update object corresponded to the interior coordinate system and the coordinate of the interior reference point closest to the update object corresponded to the interior coordinate system, wherein the interior coordinate system is established by the at least two interior reference points which have respective coordinate corresponded the exterior coordinate system.

10. The interior mobile mapping method of claim 8, further comprising:

choosing an starting point at exterior area and obtaining the coordinate of the starting point corresponded an exterior coordinate system when a mapping process of the inspected area operated at first time and no old map corresponded to the inspected area are determined;

moving from the starting point and using the inertial measurement unit to establish at least two interior reference points in the inspected area; and

using the at least two interior reference points which have respective coordinate corresponded the exterior coordinate system to establish the interior coordinate system.

11. The interior mobile mapping method of claim 8, further comprising:

digitizing an old map when a mapping process of the inspected area operated at first time and having the old map corresponded to the inspected area are determined;

choosing an starting point at exterior area and obtaining the coordinate of the starting point corresponded an exterior coordinate system;

moving from the starting point and using the inertial measurement unit to establish at least two interior reference points in the inspected area; and

using the at least two interior reference points which have respective coordinate corresponded the exterior coordinate system to establish the interior coordinate system and transferring coordinate parameters of the old map to new coordinates which are in accordance with the interior coordinate system.

12. The interior mobile mapping method of claim 10, further comprising:

moving from one interior reference point which is the closest interior reference point corresponding to an interest object, wherein a running trace of the inertial measurement unit in the inspected area is feedback positioned according to the coordinate of the at least one interior reference points;

taking one picture for the interest object at more than two different places individually;

calculating the coordinate of the interest object corresponded to the interior coordinate system according to the respective position of the interest object in the more than two pictures and the coordinate of the more than two shooting locations corresponded to the interior coordinate system; and

calculating the coordinate of the interest object corresponded to the exterior coordinate system according to the coordinate of the interest object corresponded to the interior coordinate system and the coordinate of the interior reference point closest to the interest object corresponded to the interior coordinate system.

13. The interior mobile mapping method of claim 11, further comprising:

moving from one interior reference point which is the closest interior reference point corresponding to an interest object, wherein a running trace of the inertial measurement unit in the inspected area is feedback positioned according to the coordinate of the at least one interior reference points;

taking one picture for the interest object at more than two different places individually;

calculating the coordinate of the interest object corresponded to the interior coordinate system according to the respective position of the interest object in the more than two pictures and the coordinate of the more than two shooting locations corresponded to the interior coordinate system; and

calculating the coordinate of the interest object corresponded to the exterior coordinate system according to the coordinate of the interest object corresponded to the interior coordinate system and the coordinate of the interior reference point closest to the interest object corresponded to the interior coordinate system.

14. The interior mobile mapping method of claim 8, further comprising:

using two optical transmitter modules to emit one beam individually to the two sides of each interior reference point in order to obtain two alignment points when the inertial measurement unit establishes at least two interior reference points; and

using the two optical transmitter modules to emit one beam individually to align the two alignment points when the control device moves from one interior reference point that is the closest interior reference point corresponded to the interest object, so as to check a position and an orientation of the interior mobile mapping system.

15. An interior mobile mapping method, comprising:

implementing by a mobile image system, wherein the mobile image system includes an inertial measurement unit, an image capture unit and a control device, the mobile image system is adapted for producing an interior layout of an interior inspected area, the interior inspected area has an update object, the interior mobile mapping method comprises the following steps;

(A) obtaining coordinates of at least two interior reference points corresponded to an exterior coordinate system, wherein the at least two interior reference points are established by the inertial measurement unit;

(B) moving from the interior reference point which is closest to the update object, and a running trace of the mobile image system in the interior inspected area is feedback positioned according to the coordinates of each interior reference point by the inertial measurement unit;

(C) taking one picture for the update object at more than two different places individually through the image capture unit; and

(D) calculating a coordinate of the update object according to the respective position of the update object in the more than two pictures and coordinates of the more than two shooting locations, so as to update the interior layout.

16. An interior mobile mapping system is adapted for producing an interior layout of an inspected area, comprising:

an inertial measurement unit used to position a running trace of the interior mobile mapping system according to an acceleration of the interior mobile mapping system;

a digital camera module used to shoot a peripheral image of the interior mobile mapping system;

a control device coupled to the inertial measurement unit and the digital camera module, wherein the control device is used to calculate a coordinate of each point on the running trace according to an initial coordinate of an initial position, the control device calculates the coordinate of a real object according to the pictures which are focus on the real object and captured by the digital camera module at more than two shooting location on the running trace and coordinates of the more than two shooting locations, so as to update the interior layout; and

at least two optical transmitter modules configured on the interior mobile mapping system and individually emit a beam to the ground vertically at an operational state in order to align at least two alignment points, so as to check a position and an orientation of the interior mobile mapping system at the initial position precisely.